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Modeling and Control for Efficient Bipedal Walking Robots

A Port-Based Approach

  • Book
  • © 2009


  • Presents a complete framework for modeling, analysis, and control of walking robots and complex mechanical systems in general
  • Provides tools and methods to analyze and improve the design of passive or almost- passive walking robots
  • Gives an introduction to the use of port-Hamiltonian concepts in mechanics and robotics
  • Extends classical dynamics equations for multibody systems to handle more general joints
  • Includes supplementary material:

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 53)

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About this book

By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

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Table of contents (6 chapters)


From the reviews:

“This book is written for researchers, graduate students, and professionals interested in robotics.” (IEEE Control Systems and Magazine, Vol. 30, June, 2010)

Authors and Affiliations

  • University of California at Berkeley, USA

    Vincent Duindam

  • University of Twente, Enschede, Netherlands

    Stefano Stramigioli

Bibliographic Information

  • Book Title: Modeling and Control for Efficient Bipedal Walking Robots

  • Book Subtitle: A Port-Based Approach

  • Authors: Vincent Duindam, Stefano Stramigioli

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI:

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2009

  • Hardcover ISBN: 978-3-540-89917-4Published: 17 January 2009

  • Softcover ISBN: 978-3-642-10061-1Published: 22 October 2010

  • eBook ISBN: 978-3-540-89918-1Published: 19 December 2008

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XIV, 214

  • Number of Illustrations: 81 b/w illustrations

  • Topics: Control, Robotics, Mechatronics, Artificial Intelligence

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